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User-proof method for computing the floating-base DoF in actuation #1160

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Aug 24, 2023
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User-proof method for computing the floating-base DoF in actuation #1160

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82e3c20
[actuation] Compute the floating-base DoF user-proof
cmastalli Aug 24, 2023
cf39aed
[log] Updated log files
cmastalli Aug 24, 2023
4727d92
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Aug 24, 2023
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16 changes: 8 additions & 8 deletions examples/log/bipedal_walk_fwddyn.log
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Original file line number Diff line number Diff line change
Expand Up @@ -15,9 +15,9 @@ iter cost stop grad xreg ureg step ||ffeas||
11 4.343e+03 8.427e-02 1.685e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 8.427e-02 8.315e-02
12 4.343e+03 6.548e-04 1.310e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 6.548e-04 5.644e-04
13 4.343e+03 2.953e-05 5.906e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.953e-05 1.997e-05
14 4.343e+03 3.138e-06 6.276e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.138e-06 2.105e-06
15 4.343e+03 3.416e-07 6.832e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.416e-07 2.283e-07
16 4.343e+03 3.763e-08 7.525e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.763e-08 2.507e-08
14 4.343e+03 3.138e-06 6.276e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.138e-06 2.106e-06
15 4.343e+03 3.416e-07 6.833e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.416e-07 2.283e-07
16 4.343e+03 3.765e-08 7.530e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.765e-08 2.510e-08
*** SOLVE walking ***
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
0 4.692e+06 1.835e+07 3.664e+07 1.000e-09 1.000e-09 0.5000 2.143e-02 0.000e+00 0.000e+00 1.375e+07 1.367e+07
Expand All @@ -37,8 +37,8 @@ iter cost stop grad xreg ureg step ||ffeas||
13 4.606e+03 9.207e-01 1.841e+00 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 0.000e+00 6.905e-01 2.574e-01
14 4.606e+03 5.202e-01 1.040e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 5.202e-01 5.069e-01
15 4.606e+03 1.958e-02 3.916e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.958e-02 1.959e-02
16 4.606e+03 1.123e-06 2.245e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.123e-06 1.132e-06
17 4.606e+03 1.563e-08 3.125e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.563e-08 1.509e-08
16 4.606e+03 1.122e-06 2.245e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.122e-06 1.132e-06
17 4.606e+03 1.553e-08 3.106e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.553e-08 1.512e-08
*** SOLVE walking ***
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
0 4.671e+06 1.833e+07 3.661e+07 1.000e-09 1.000e-09 0.5000 9.993e-03 0.000e+00 0.000e+00 1.374e+07 1.367e+07
Expand All @@ -65,7 +65,7 @@ iter cost stop grad xreg ureg step ||ffeas||
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
20 4.565e+03 8.537e-02 1.707e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 8.537e-02 8.537e-02
21 4.565e+03 3.690e-06 7.380e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.690e-06 3.664e-06
22 4.565e+03 4.762e-09 9.524e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.762e-09 3.913e-09
22 4.565e+03 4.664e-09 9.327e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.664e-09 3.923e-09
*** SOLVE walking ***
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
0 4.665e+06 1.832e+07 3.660e+07 1.000e-09 1.000e-09 0.5000 9.715e-03 0.000e+00 0.000e+00 1.374e+07 1.367e+07
Expand All @@ -83,7 +83,7 @@ iter cost stop grad xreg ureg step ||ffeas||
11 4.661e+03 9.886e+00 1.977e+01 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 0.000e+00 4.325e+00 3.076e+00
12 4.657e+03 9.231e+00 1.846e+01 1.000e-09 1.000e-09 0.2500 0.000e+00 0.000e+00 0.000e+00 4.038e+00 3.866e+00
13 4.654e+03 3.610e+00 7.220e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.610e+00 3.612e+00
14 4.653e+03 7.714e-02 1.543e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.714e-02 7.992e-02
14 4.653e+03 7.715e-02 1.543e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.715e-02 7.992e-02
15 4.653e+03 1.453e-02 2.906e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.453e-02 1.453e-02
16 4.653e+03 1.669e-05 3.338e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.669e-05 1.677e-05
17 4.653e+03 3.886e-08 7.772e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.886e-08 3.854e-08
17 4.653e+03 3.885e-08 7.771e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.885e-08 3.852e-08
12 changes: 6 additions & 6 deletions examples/log/bipedal_walk_invdyn.log
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Original file line number Diff line number Diff line change
Expand Up @@ -13,9 +13,9 @@ iter cost stop grad xreg ureg step ||ffeas||
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
10 4.343e+03 4.121e-01 8.208e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.444e-03 4.121e-01 -2.555e-01
11 4.343e+03 6.326e-01 1.262e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.479e-03 6.326e-01 6.326e-01
12 4.343e+03 6.393e-05 1.255e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 6.750e-07 -6.393e-05 -6.403e-05
12 4.343e+03 6.393e-05 1.255e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 6.749e-07 -6.393e-05 -6.403e-05
13 4.343e+03 3.113e-06 3.168e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 7.282e-08 3.113e-06 3.131e-06
14 4.343e+03 4.473e-08 1.411e-07 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.822e-09 4.473e-08 4.433e-08
14 4.343e+03 4.482e-08 1.413e-07 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.822e-09 4.482e-08 4.431e-08
*** SOLVE walking ***
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
0 1.085e+05 1.835e+07 3.670e+07 1.000e-09 1.000e-09 1.0000 1.012e-02 0.000e+00 1.871e+02 1.835e+07 1.825e+07
Expand Down Expand Up @@ -44,7 +44,7 @@ iter cost stop grad xreg ureg step ||ffeas||
21 4.606e+03 2.727e-01 5.454e-01 1.000e-09 1.000e-09 0.5000 0.000e+00 0.000e+00 2.465e-04 2.045e-01 2.035e-01
22 4.606e+03 6.891e-02 1.378e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 2.021e-04 6.891e-02 6.888e-02
23 4.606e+03 2.310e-05 5.727e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 5.547e-08 2.310e-05 2.309e-05
24 4.606e+03 1.442e-08 8.848e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 5.470e-11 -1.442e-08 -1.482e-08
24 4.606e+03 1.451e-08 8.671e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 5.477e-11 -1.451e-08 -1.486e-08
*** SOLVE walking ***
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
0 1.417e+05 1.833e+07 3.666e+07 1.000e-09 1.000e-09 1.0000 9.749e-03 0.000e+00 1.535e+02 1.833e+07 1.820e+07
Expand All @@ -69,7 +69,7 @@ iter cost stop grad xreg ureg step ||ffeas||
18 4.565e+03 1.121e-01 2.242e-01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.418e-04 1.121e-01 1.121e-01
19 4.565e+03 3.326e-05 7.008e-06 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 5.166e-08 3.326e-05 3.324e-05
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
20 4.565e+03 2.984e-09 7.469e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.381e-11 -2.984e-09 -3.231e-09
20 4.565e+03 3.125e-09 7.185e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 3.374e-11 -3.125e-09 -3.329e-09
*** SOLVE walking ***
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
0 1.652e+05 1.832e+07 3.665e+07 1.000e-09 1.000e-09 1.0000 9.499e-03 0.000e+00 1.298e+02 1.832e+07 1.817e+07
Expand All @@ -87,5 +87,5 @@ iter cost stop grad xreg ureg step ||ffeas||
11 4.657e+03 2.628e+01 5.256e+01 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 1.821e-02 2.628e+01 2.264e+01
12 4.653e+03 3.815e+00 7.621e+00 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 4.976e-04 3.815e+00 3.815e+00
13 4.653e+03 1.075e-03 1.973e-03 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 3.850e-05 1.075e-03 1.077e-03
14 4.653e+03 8.817e-07 7.385e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 9.759e-09 -8.817e-07 -8.877e-07
15 4.653e+03 1.330e-09 5.424e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.964e-10 1.330e-09 1.402e-09
14 4.653e+03 8.817e-07 7.384e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 9.758e-09 -8.817e-07 -8.877e-07
15 4.653e+03 1.335e-09 5.440e-09 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 1.966e-10 1.335e-09 1.372e-09
10 changes: 5 additions & 5 deletions examples/log/bipedal_walk_ubound.log
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@ iter cost stop grad xreg ureg step ||ffeas||
18 4.343e+03 4.042e-02 8.084e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.042e-02 4.041e-02
19 4.343e+03 9.543e-06 1.909e-05 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 9.543e-06 9.395e-06
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
20 4.343e+03 2.928e-08 5.855e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.928e-08 2.326e-08
20 4.343e+03 2.930e-08 5.859e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 2.930e-08 2.325e-08
*** SOLVE walking ***
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
0 4.667e+06 1.834e+07 3.661e+07 1.000e-01 1.000e-01 0.5000 2.146e-02 0.000e+00 0.000e+00 1.374e+07 1.369e+07
Expand All @@ -40,8 +40,8 @@ iter cost stop grad xreg ureg step ||ffeas||
11 4.607e+03 1.045e+01 2.089e+01 1.000e-05 1.000e-05 1.0000 0.000e+00 0.000e+00 0.000e+00 1.045e+01 1.051e+01
12 4.607e+03 4.408e-01 8.815e-01 1.000e-06 1.000e-06 1.0000 0.000e+00 0.000e+00 0.000e+00 4.408e-01 3.532e-01
13 4.607e+03 8.600e-02 1.720e-01 1.000e-07 1.000e-07 1.0000 0.000e+00 0.000e+00 0.000e+00 8.600e-02 8.601e-02
14 4.607e+03 7.969e-07 1.594e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 0.000e+00 7.969e-07 8.327e-07
15 4.607e+03 1.102e-08 2.204e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.102e-08 1.154e-08
14 4.607e+03 7.969e-07 1.594e-06 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 0.000e+00 7.969e-07 8.324e-07
15 4.607e+03 1.105e-08 2.209e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.105e-08 1.157e-08
*** SOLVE walking ***
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
0 2.055e+05 1.832e+07 3.661e+07 1.000e-02 1.000e-02 1.0000 1.000e-02 0.000e+00 0.000e+00 1.832e+07 1.814e+07
Expand All @@ -66,7 +66,7 @@ iter cost stop grad xreg ureg step ||ffeas||
18 4.567e+03 3.274e-02 6.549e-02 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.274e-02 3.277e-02
19 4.567e+03 1.831e-04 3.661e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.831e-04 1.832e-04
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
20 4.567e+03 4.116e-08 8.231e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.116e-08 4.066e-08
20 4.567e+03 4.117e-08 8.234e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.117e-08 4.043e-08
*** SOLVE walking ***
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
0 1.448e+05 1.831e+07 3.660e+07 1.000e-02 1.000e-02 1.0000 9.731e-03 0.000e+00 0.000e+00 1.831e+07 1.819e+07
Expand All @@ -91,4 +91,4 @@ iter cost stop grad xreg ureg step ||ffeas||
18 4.656e+03 6.990e-02 1.398e-01 1.000e-08 1.000e-08 1.0000 0.000e+00 0.000e+00 0.000e+00 6.990e-02 7.002e-02
19 4.656e+03 1.426e-04 2.852e-04 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.426e-04 1.425e-04
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
20 4.656e+03 4.527e-08 9.055e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.527e-08 4.583e-08
20 4.656e+03 4.552e-08 9.105e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 4.552e-08 4.609e-08
16 changes: 8 additions & 8 deletions examples/log/humanoid_manipulation.log
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Original file line number Diff line number Diff line change
Expand Up @@ -5,19 +5,19 @@ iter cost stop grad xreg ureg step ||ffeas||
3 5.144e+01 1.308e+01 2.615e+01 1.000e-01 1.000e-01 0.5000 1.502e-14 0.000e+00 0.000e+00 9.808e+00 1.080e+01
4 4.829e+01 6.135e+00 1.227e+01 1.000e-01 1.000e-01 0.5000 7.522e-15 0.000e+00 0.000e+00 4.601e+00 3.153e+00
5 4.668e+01 6.886e+00 1.377e+01 1.000e-01 1.000e-01 0.1250 3.775e-15 0.000e+00 0.000e+00 1.614e+00 1.611e+00
6 4.408e+01 5.838e+00 1.168e+01 1.000e-01 1.000e-01 0.2500 3.331e-15 0.000e+00 0.000e+00 2.554e+00 2.596e+00
7 4.051e+01 4.356e+00 8.713e+00 1.000e-01 1.000e-01 0.5000 2.498e-15 0.000e+00 0.000e+00 3.267e+00 3.570e+00
8 3.756e+01 4.118e+00 8.237e+00 1.000e-01 1.000e-01 0.5000 1.277e-15 0.000e+00 0.000e+00 3.089e+00 2.955e+00
6 4.408e+01 5.838e+00 1.168e+01 1.000e-01 1.000e-01 0.2500 3.303e-15 0.000e+00 0.000e+00 2.554e+00 2.596e+00
7 4.051e+01 4.356e+00 8.713e+00 1.000e-01 1.000e-01 0.5000 2.470e-15 0.000e+00 0.000e+00 3.267e+00 3.570e+00
8 3.756e+01 4.118e+00 8.237e+00 1.000e-01 1.000e-01 0.5000 1.249e-15 0.000e+00 0.000e+00 3.089e+00 2.955e+00
9 3.611e+01 4.456e+00 8.912e+00 1.000e-01 1.000e-01 0.2500 6.661e-16 0.000e+00 0.000e+00 1.949e+00 1.447e+00
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
10 3.502e+01 4.574e+00 9.148e+00 1.000e-01 1.000e-01 0.2500 6.661e-16 0.000e+00 0.000e+00 2.001e+00 1.096e+00
11 3.432e+01 4.976e+00 9.952e+00 1.000e-01 1.000e-01 0.2500 6.661e-16 0.000e+00 0.000e+00 2.177e+00 6.977e-01
11 3.432e+01 4.976e+00 9.952e+00 1.000e-01 1.000e-01 0.2500 4.441e-16 0.000e+00 0.000e+00 2.177e+00 6.977e-01
12 3.338e+01 5.676e+00 1.135e+01 1.000e-01 1.000e-01 0.1250 4.441e-16 0.000e+00 0.000e+00 1.330e+00 9.332e-01
13 3.252e+01 5.398e+00 1.080e+01 1.000e-01 1.000e-01 0.1250 6.661e-16 0.000e+00 0.000e+00 1.265e+00 8.611e-01
14 3.172e+01 5.168e+00 1.034e+01 1.000e-01 1.000e-01 0.1250 8.882e-16 0.000e+00 0.000e+00 1.211e+00 8.028e-01
15 3.096e+01 4.961e+00 9.923e+00 1.000e-01 1.000e-01 0.1250 6.661e-16 0.000e+00 0.000e+00 1.163e+00 7.611e-01
16 3.034e+01 4.780e+00 9.560e+00 1.000e-01 1.000e-01 0.1250 6.661e-16 0.000e+00 0.000e+00 1.120e+00 6.159e-01
17 2.437e+01 4.545e+00 9.090e+00 1.000e-02 1.000e-02 1.0000 8.882e-16 0.000e+00 0.000e+00 4.545e+00 5.970e+00
15 3.096e+01 4.961e+00 9.923e+00 1.000e-01 1.000e-01 0.1250 8.882e-16 0.000e+00 0.000e+00 1.163e+00 7.611e-01
16 3.034e+01 4.780e+00 9.560e+00 1.000e-01 1.000e-01 0.1250 8.882e-16 0.000e+00 0.000e+00 1.120e+00 6.159e-01
17 2.437e+01 4.545e+00 9.090e+00 1.000e-02 1.000e-02 1.0000 6.661e-16 0.000e+00 0.000e+00 4.545e+00 5.970e+00
18 2.222e+01 8.519e+00 1.704e+01 1.000e-02 1.000e-02 0.1250 0.000e+00 0.000e+00 0.000e+00 1.997e+00 2.156e+00
19 2.020e+01 7.929e+00 1.586e+01 1.000e-02 1.000e-02 0.1250 0.000e+00 0.000e+00 0.000e+00 1.858e+00 2.019e+00
iter cost stop grad xreg ureg step ||ffeas|| ||gfeas|| ||hfeas|| dV-exp dV
Expand Down Expand Up @@ -79,7 +79,7 @@ iter cost stop grad xreg ureg step ||ffeas||
70 3.456e+00 1.016e-07 2.032e-07 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 1.016e-07 1.033e-07
71 3.456e+00 3.482e-08 6.964e-08 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.482e-08 3.501e-08
72 3.456e+00 3.248e-09 6.495e-09 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 3.248e-09 3.254e-09
73 3.456e+00 7.353e-13 1.471e-12 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.353e-13 7.767e-13
73 3.456e+00 7.353e-13 1.471e-12 1.000e-09 1.000e-09 1.0000 0.000e+00 0.000e+00 0.000e+00 7.353e-13 7.976e-13
Finally reached = (0.400, 0.000, 1.200)
Distance between hand and target = 1.523E-05
Distance to default state = 1.615E+00
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2 changes: 1 addition & 1 deletion examples/log/humanoid_manipulation_ubound.log
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@ iter cost stop grad xreg ureg step ||ffeas||
31 3.745e+01 2.495e+01 4.990e+01 1.000e-02 1.000e-02 0.2500 1.113e-14 0.000e+00 0.000e+00 1.092e+01 3.994e+00
32 3.254e+01 2.418e+01 4.835e+01 1.000e-02 1.000e-02 0.2500 8.354e-15 0.000e+00 0.000e+00 1.058e+01 4.908e+00
33 2.861e+01 2.131e+01 4.262e+01 1.000e-02 1.000e-02 0.2500 6.273e-15 0.000e+00 0.000e+00 9.322e+00 3.924e+00
34 2.584e+01 1.864e+01 3.728e+01 1.000e-02 1.000e-02 0.2500 4.705e-15 0.000e+00 0.000e+00 8.156e+00 2.772e+00
34 2.584e+01 1.864e+01 3.728e+01 1.000e-02 1.000e-02 0.2500 4.718e-15 0.000e+00 0.000e+00 8.156e+00 2.772e+00
35 2.245e+01 1.649e+01 3.298e+01 1.000e-02 1.000e-02 0.5000 3.553e-15 0.000e+00 0.000e+00 1.237e+01 3.394e+00
36 2.106e+01 1.361e+01 2.722e+01 1.000e-02 1.000e-02 0.5000 1.776e-15 0.000e+00 0.000e+00 1.021e+01 1.383e+00
37 2.106e+01 1.240e+01 2.480e+01 1.000e-01 1.000e-01 0.0020 8.882e-16 0.000e+00 0.000e+00 4.839e-02 2.979e-03
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